<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:drive="http://schemas.microsoft.com/robotics/2006/05/drive.html" 
    >
  <CreateServiceList>
    <!-- THIS WILL CREATE AT LEAST ONE OF EVERYTHING -->
    <!-- IT WILL STRESS THE I2C BUS TO CAPACITY AND PERHAPS BEYOND -->
    
    <!-- I2C -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/i2chardware.html</dssp:Contract>
    </ServiceRecordType>

    <!-- CMPS03 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/cmps03hardware.html</dssp:Contract>
    </ServiceRecordType>

    <!-- GPIO14 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/gpio14hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/gpio14contactsensor.html</dssp:Contract>
    </ServiceRecordType>

    <!-- SRF08 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf08hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf08sonar.html</dssp:Contract>
      <!--
      <dssp:PartnerList>
        <dssp:Partner>
          <dssp:Service>C:\Users\YOUR_USERNAME_HERE\Microsoft Robotics Studio Dev Studio 2008\packages\DevantechMSRS\Config\SRF08Sonar224.Config.xml</dssp:Service>
          <dssp:Name>dssp:StateService</dssp:Name>
        </dssp:Partner>
      </dssp:PartnerList>
      -->
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf08sonar.html</dssp:Contract>
      <!--
      <dssp:PartnerList>
        <dssp:Partner>
          <dssp:Service>C:\Users\YOUR_USERNAME_HERE\Microsoft Robotics Studio Dev Studio 2008\packages\DevantechMSRS\Config\SRF08Sonar226.Config.xml</dssp:Service>
          <dssp:Name>dssp:StateService</dssp:Name>
        </dssp:Partner>
      </dssp:PartnerList>
      -->
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf08sonarasbumper.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf08lightsensor.html</dssp:Contract>
    </ServiceRecordType>

    <!-- SRF235 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf235hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf235sonar.html</dssp:Contract>
      <!--
     <dssp:PartnerList>
        <dssp:Partner>
          <dssp:Service>C:\Users\YOUR_USERNAME_HERE\Microsoft Robotics Studio Dev Studio 2008\packages\DevantechMSRS\Config\SRF235Sonar228.Config.xml</dssp:Service>
          <dssp:Name>dssp:StateService</dssp:Name>
        </dssp:Partner>
      </dssp:PartnerList>
      -->
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/srf235sonarasbumper.html</dssp:Contract>
    </ServiceRecordType>

    <!-- TPA81 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/tpa81hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/tpa81map.html</dssp:Contract>
    </ServiceRecordType>

    <!-- SP03 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/sp03hardware.html</dssp:Contract>
    </ServiceRecordType>

    <!-- LCD03 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/lcd03hardware.html</dssp:Contract>
    </ServiceRecordType>

    <!-- SD21 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/sd21hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/sd21sonarpan.html</dssp:Contract>
    </ServiceRecordType>

    <!-- MD23 -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23hardware.html</dssp:Contract>
    </ServiceRecordType>
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23battery.html</dssp:Contract>
    </ServiceRecordType>

    <!--Start the Generic (hardware agnostic) drive service-->
    <ServiceRecordType>
      <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
      <dssp:PartnerList>
      <!--Initial state partner-->
        <!--
      <dssp:Partner>
	      <dssp:Service>C:\Users\YOUR_USERNAME_HERE\Microsoft Robotics Studio Dev Studio 2008\packages\DevantechMSRS\Config\Devantech.Drive.Config.xml</dssp:Service>
	      <dssp:Name>dssp:StateService</dssp:Name>
      </dssp:Partner>
      -->
      <dssp:Partner>
	      <dssp:Name>drive:LeftMotor</dssp:Name>
      </dssp:Partner>

      <dssp:Partner>
	      <dssp:Name>drive:RightMotor</dssp:Name>
      </dssp:Partner>

      <dssp:Partner>
	      <dssp:Name>drive:LeftEncoder</dssp:Name>
      </dssp:Partner>

      <dssp:Partner>
	      <dssp:Name>drive:RightEncoder</dssp:Name>
      </dssp:Partner>

      </dssp:PartnerList>
    </ServiceRecordType>

    <!--The following section creates the services that the generic drive requires as partners -->
    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23motor.html</dssp:Contract>
      <Name>drive:LeftMotor</Name>
    </ServiceRecordType>

    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23motor.html</dssp:Contract>
      <Name>drive:RightMotor</Name>
    </ServiceRecordType>

    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23encoder.html</dssp:Contract>
      <Name>drive:LeftEncoder</Name>
    </ServiceRecordType>

    <ServiceRecordType>
      <dssp:Contract>http://www.robot-electronics.co.uk/2006/10/md23encoder.html</dssp:Contract>
      <Name>drive:RightEncoder</Name>
    </ServiceRecordType>

  </CreateServiceList>
</Manifest>